Directionally controllable, self-stabilizing, rotating flying vehicle

ABSTRACT

A rotating flying vehicle in accordance to an embodiment of the present invention includes a hub having an outer perimeter, an outer ring having a diameter greater than the outer perimeter, a plurality of blades extending outwardly and downwardly connecting the hub to the outer ring, and a plurality of rotor assemblies. Each rotor assembly further includes a motor to spin a propeller, where the propellers are positioned beneath the plurality of blades. The propellers when spinning will cause the hub, blades, and outer ring to sufficiently rotate and generate lift such that the vehicle will fly. The vehicle also includes a system for determining a directional point of reference for the rotor assemblies when the vehicle is rotating and includes a control system to fly the vehicle in a specified direction relative to a remote controller.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a Continuation of U.S. patent application Ser. No.11/424,433, which is a continuation in part of 11/106,146 filed Apr. 14,2005, which is a continuation of U.S. Pat. No. 6,899,586, which is acontinuation of U.S. Pat. No. 6,843,699. U.S. Pat. No. 6,843,699 claimsthe benefit of U.S. Provisional Application 60/453,283 filed on Mar. 11,2003 and is a Continuation In Part Application of U.S. Pat. No.6,688,936. All of which are incorporated by reference.

FIELD OF THE INVENTION

This invention relates to flying vehicles that are directionallycontrollable self-stabilizing rotating vehicles.

BACKGROUND OF THE INVENTION

Most vertical takeoff and landing vehicles rely on gyro stabilizationsystems to remain stable in hovering flight. For instance, theinventor's previous U.S. Pat. No. 5,971,320 and correspondingInternational PCT Application WO 99/10235 disclose a helicopter with agyroscopic rotor assembly to control the orientation or yaw of thehelicopter. However, different characteristics are present when theentire body of the vehicle, such as a flying saucer, rotates. Gyrostabilization systems are typically no longer useful when the entirebody rotates, for example, see U.S. Pat. Nos. 5,297,759; 5,634,839;5,672,086; and U.S. Pat. Nos. 6,843,699 and 6,899,586.

However, a great deal of effort is still made in the prior art toeliminate or counteract the torque created by horizontal rotatingpropellers in flying aircraft in an effort to increase stability. Forexample, Japanese Patent Application Number 63-026355 to Keyence Corp.provides a first pair of horizontal propellers reversely rotating from asecond pair of horizontal propellers in order to eliminate torque. Seealso U.S. Pat. No. 5,071,383 which incorporates two horizontalpropellers rotating in opposite directions to eliminate rotation of theaircraft. Similarly, U.S. Pat. No. 3,568,358 discloses means forproviding a counter-torque to the torque produced by a propellerbecause, as stated in the '358 patent, torque creates instability aswell as reducing the propeller speed and effective efficiency of thepropeller.

The prior art also includes flying or rotary aircraft which havedisclosed the ability to stabilize the aircraft without the need forcounter-rotating propellers. U.S. Pat. No. 5,297,759 incorporates aplurality of blades positioned around a hub and its central axis andfixed in pitch. A pair of rotors pitched transversely to a central axisto provide lift and rotation are mounted on diametrically opposingblades. Each blade includes turned outer tips, which create a passivestability by generating transverse lift forces to counteract imbalanceof vertical lift forces generated by the blades. This helps to maintainthe center of lift on the central axis of the rotors. In addition,because the rotors are pitched transversely to the central axis toprovide lift and rotation, the lift generated by the blades is alwaysgreater than the lift generated by the rotors.

Nevertheless, there is always a continual need to provide new and novelself-stabilizing rotating vehicles that do not rely on additional rotorsto counter the torque of a main rotor. Such self-stabilizing rotatingvehicles should be inexpensive and relatively noncomplex.

In addition to providing a self-stabilizing rotating vehicle, theability to provide a simple hovering vehicle that is also controllablegreatly enhances the vehicle. When the entire vehicle rotates thevehicle loses an orientation reference, which helps the remote userdetermine the direction in which the vehicle should move. Inhelicopters, airplanes, or other typical flying aircraft that havedefined front ends or noses, the aircraft has a specific orientationthat is predetermined by the nose of the vehicle. In such circumstancesa user controlling the aircraft could push a joystick controllerforwards (or push a forwards button) to direct the aircraft to travelforwards from its point of reference, similar directional controls arefound in conventional remote controlled vehicles. However, when avehicle completely rotates, such as a flying saucer or any otherrotating vehicle, the rotating vehicle loses its orientation as soon asit begins to spin, making directional control difficult to implement.For example, U.S. Pat. No. 5,429,542 to Britt, Jr. as well as U.S. Pat.No. 5,297,759 to Tilbor et al. disclose rotating vehicles but onlyaddress movement in an upwards, downwards, and spinning direction; andU.S. Pat. Nos. 5,634,839 and 5,672,086 to Dixon discuss the use of acontrol signal to direct the rotating vehicle towards or away from theuser, thus requiring the user to move about the rotating vehicle to theleft or right if the user wants the rotating vehicle to move towardsthat particular direction.

SUMMARY OF THE INVENTION

In accordance with an embodiment a self-stabilizing controllablerotating flying vehicle is provided. The rotating vehicle includes a hubwith a plurality of blades fixed thereto. The blades further extendoutwardly and downwardly to connect to an outer ring. At least two rotorassemblies are provided and each includes a propeller positioned beneaththe blades. As the propellers (defined by the rotor assemblies) spin,the hub, blades, and outer ring rotate in an opposite direction causedby the torque of the spinning propellers. The propellers are furthercontrollable by a remote control in a manner that moves the rotatingvehicle in various directions, such as up and down, left and right, andforward and backwards.

In a first control system used to move the flying rotating vehicle invarious directions, the rotating vehicle includes a non directionalreceiver and a reference detector receiver for receiving a point ofreference signal, both receivers are in communication with amicroprocessor. A hand held controller includes a transmitter that emitsencoded commands to move the flying rotating vehicle in a specifieddirection relative to the user. The encoded commands are received by thenon directional receiver. In addition, the microprocessor hasprogramming to control the rotor assemblies in response to the receivedencoded commands and in relation to the directional point of referencesuch that the flying rotating vehicle moves in the specified directionrelative to the remote user. The first control system includesprogramming to generate a drive signal for each rotor assembly, whereinthe drive signals control the rotating vehicle to fly in the specifieddirection.

The hand held controller may include a throttle controller that ismanually operable by the user. The throttle controller when manipulatedby the user causes the transmitter to send encoded commands to indicateto the microprocessor to increase and decrease the level of the drivesignals to each rotor assembly. This would cause the rotating vehicle tomove up or down. The hand held controller may also include a directionalcontroller that is manually operable by the user. The directionalcontroller when manipulated by the user causes the transmitter to sendencoded commands to indicate to the microprocessor to generate the drivesignals for each rotor assembly. The drive signals would include asinusoidal wave that is out of phase with one another by a predeterminedoffset angle defined by the placement of the rotor assemblies inreference to each other and includes amplitude defined to control thespeed in which directional controls are made.

In a second control system, the rotating vehicle includes a radioreceiver and means to control the rotor assemblies in response to drivesignals received by the radio receiver. A hand held controller has aradio transmitter in communication with a microprocessor. Themicroprocessor has programming to generate the drive signals in responseto inputs from the hand held controller and the directional referencereceived from the rotating vehicle, such that inputs relate to movingthe flying rotating vehicle in a specified direction relative to thehand held controller and the drive signals control the rotating vehicleto move in the specified direction. The drive signals are transmittedfrom the radio transmitter. Thus the rotor assemblies are controlled tomove the flying rotating vehicle in the specified direction relative tothe hand held controller when the radio receiver receives the drivesignals.

The hand held controller may further include a throttle controllermanually operable by the user. The throttle controller when manipulatedby the user causes the microprocessor to increase and decrease levels ofthe drive signals. In addition, the hand held controller may include adirectional controller manually operable by the user. The directionalcontroller when manipulated by the user causes the microprocessor togenerate drive signals which include sinusoidal waves that are out ofphase with one another by the predetermined offset angle and includeamplitudes of the waves to control the speed in which the directionalmovements are made.

In a third control system, a hand held controller is operable by a user.The controller includes four transmitters in a circular quadrantplacement. Each transmitter sends a signal that is identifiable from theother signals. The hand held controller also includes a signal blockingelement positioned between two adjacent transmitters to reduceintermingling of signals. The rotating vehicle has a receiver, and amicroprocessor in communication with the receiver. The microprocessorhas the ability to generate drive signals in relation to the receivedsignals and to send the drive signals to the rotor assemblies. The drivesignals control the rotating vehicle to fly in a specified direction.

The hand held controller may further include a throttle input manuallyoperable by the user. The controller also includes means to augment eachsignal emitted from the hand held controller in response to the throttleinput. The microprocessor positioned in the rotating vehicle hasprogramming to control levels of the drive signals in relation to theaugmentation of the signals.

In a fourth control system, which is similar to the third controlsystem, the hand held controller includes a radio transmitter. Thethrottle input positioned in the hand held controller is used togenerate a signal in response thereto. The signal is sent from the radiotransmitter to the rotating vehicle that includes a radio receiver. Theradio receiver is in communication with the microprocessor, which hasprogramming to control levels of the drive signals in relation receivedradio signal.

In a fifth control system the rotating vehicle includes a transmitterfor sending a reference signal, and includes a receiver for receivingdrive signals. The drive signals are used to control the rotorassemblies to move the rotating vehicle in a specified direction. A handheld controller operable by a user is also provided. The hand heldcontroller includes two adjacent receivers, a signal blocking elementpositioned between the two adjacent receivers to reduce intermingling ofthe reception of the reference signal. A microprocessor is incommunication with the receivers and has a means to generate the drivesignals in relation to the received reference signal. A transmitter incommunication with the microprocessor is used to send the drive signalsto the rotating vehicle. When the hand held controller is moved in adirection and the reception of the reference signal by the two adjacentreceivers changes, the microprocessor generates drive signals to movethe rotating vehicle in a specified direction that corresponds to themovement of the hand held controller.

Numerous other advantages and features of the invention will becomereadily apparent from the following detailed description of theinvention and the embodiments thereof, from the claims, and from theaccompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

A fuller understanding of the foregoing may be had by reference to theaccompanying drawings, wherein:

FIG. 1 is a side view of a directionally controllable self-stabilizingrotating vehicle in accordance with a first embodiment;

FIG. 2 is a top view of the vehicle from FIG. 1;

FIG. 3 is a bottom view of the vehicle from FIG. 1;

FIG. 4 is a bottom perspective view of a directionally controllableself-stabilizing rotating vehicle in accordance with another embodiment;

FIG. 5 is an exploded bottom perspective view of FIG. 4;

FIG. 6 is a exploded view of the rotor assembly;

FIG. 7 is an bottom view of the vehicle illustrating the quadrants usedfor directionally controlling the rotating vehicle;

FIGS. 8 a-8 d illustrate the sinusoidal waves generated by amicroprocessor in order to directionally control the rotating vehicle;

FIG. 9 a is a first control system used to directionally control therotating vehicle;

FIG. 9 b is an alternative control system used to directionally controlthe rotating vehicle;

FIG. 9 c is a second control system used to directionally control therotating vehicle;

FIG. 10 a is a third control system used to directionally control therotating vehicle;

FIG. 10 b is front view of a dome on a hand held controller, having fourIR emitters, the direction emitting beams are also graphicallyillustrated;

FIG. 10 c is a fourth control system used to directionally control therotating vehicle; and

FIG. 10 d is a fifth control system used to directionally control therotating vehicle.

DETAILED DESCRIPTION OF THE EMBODIMENTS

While the invention is susceptible to embodiments in many differentforms, there are shown in the drawings and will be described herein, indetail, the preferred embodiments of the present invention. It should beunderstood, however, that the present disclosure is to be considered anexemplification of the principles of the invention and is not intendedto limit the spirit or scope of the invention and/or claims of theembodiments illustrated.

Referring to FIGS. 1 through 3, in a first embodiment of the presentinvention a flying rotating vehicle 10 is provided. The vehicle 10includes a hub 12 and an outer ring 14. A plurality of blades 16 extendoutwardly and downwardly from the hub 12 to the outer ring 14.Separately secured to the underside 18 of three of the blades 16 arerotor assemblies 20. FIG. 4 illustrates another vehicle 10 that hasfewer blades 16, further illustrating that the number of blades wouldnot affect that scope of the invention. The placement of and manner ofsecuring the rotor assemblies 20 to the flying rotating vehicle 10 mayalso change. For example, the rotor assemblies 20 may be secured to theflying rotating vehicle 10 by any means for securing. Such means mayinclude the method described hereinabove, or may include securing eachrotor assembly 20 to one or more rods (not shown) that are positionedbelow the blades and allow the rotor assemblies to be secured to theflying rotating vehicle 10 at a position below the blades. Alternativemeans may include the ability to secure or suspend the rotor assemblies,on rods or the like, between the blades and angled downwardly such thatthe propeller 50 (defined from the rotor assembly 20) are beneath orbetween the blades. In any of these attachment configurations, thepropellers 50 may interact with the blades 16 to aid in selfstabilization and to increase efficiency of the propellers 50.

Referring also to FIG. 5, the hub 12 includes a lower cap 22 and anupper cap 24 that are secured to each other through the hub capturingvarious components there between. The components housed against orwithin the hub 12 may include a power supply 26 and a microprocessor 28.

Referring now to FIG. 6, each rotor assembly 20 would include a motor 32operatively connected to drive a rotor or propeller 50. The motor 32 issecured to a gear box 34. The motor 32 drives a pinion 36, which rotatesa propeller gear 38 mounted on a propeller shaft 40. The propeller 50 issecured to an end of the propeller shaft 40. As such when the rotorassembly is activated, the motor 32 rotates the propeller 50.

Continuing to refer to FIGS. 5 and 6, the gear box 34 includes a wedgeshaped face 42 with a mounting pin 44 extending outwardly therefrom. Thewedge shaped face 42 fits into an accommodating opening 46 on theunderside 18 of a blade 16. The opening 46 on the blade 16 also includesan aperture 48 to accommodate the pin 44. A lock, screw or other typefastener 49 may be used with the pin 44 to secure the rotor assembly 20to the blade 16.

As the propellers 50 rotate, no attempt is made to counter the torquecreated from the rotating propeller 50. Instead the torque causes therotating vehicle 10 to rotate in the opposite direction. With sufficientRPMs the rotating vehicle 10 will lift off of the ground or a surfaceand begin flying. Once the rotating vehicle 10 is flying, the outer ring14 protects the blades 16 and propellers 50. As mentioned above, theouter ring 14 and hub 12 are connected by the plurality of blades 16.The blades 16 have lifting surfaces positioned to generate lift as thevehicle 10 rotates. Even though the blades 16 are rotating in theopposite direction as the propellers 50, both are providing lift to therotating vehicle 10. The blades 16 are categorized as counter-rotatinglifting surfaces. The induced drag characteristics of the propellers 50verses the blades 16 can also be adjusted to provide the desired bodyrotation speed. In addition, the propellers 50 may be inclined at anangle to add torque to the rotating vehicle 10 to achieve a moredesirable rotational speed, which may help the self stabilization effectof the rotating vehicle 10. The propellers 50 may be inclined at about0-10 degrees, more preferably at about 4-5 degrees.

The rotating vehicle 10 has the ability to self stabilize duringrotation. This self stabilization is categorized by the following: asthe rotating vehicle 10 is moved in someway it tilts to one directionand starts moving in that direction. A blade, of the plurality of blades16, that is on the preceding side of the rotating vehicle 10 will getmore lift than the blade on the receding side. This happens because thepreceding blade will exhibit a higher inflow of air than the recedingblade. Depending on the direction of rotation, the lift is going to beon one side or the other. This action provides a lifting force that is90 degrees to the direction of travel. Due to gyroscopic procession areaction force manifests 90 degrees out of phase with the lifting force.This reaction force opposes movement of the vehicle and thus therotating vehicle 10 tends to self stabilize. The self-stabilizing effectis thus caused by the gyroscopic procession and the extra lifting forceon the preceding blade.

The placement of the center of gravity (CG, FIG. 1) may also be acontributing factor for self-stabilization. It is believed that theself-stabilizing effect will increase when the CG is positioned abovethe bottom 14 b of the outer ring 14 by a predetermined distance. Thepredetermined distance above the bottom 14 b of the outer ring 14 wasfurther found to be a distance substantially equal to about 10% to 50%of the internal diameter of the outer ring, more preferably to about 20%to 30% of the internal diameter of the outer ring. In addition, sinceoverall weight contributes to the CG position, the CG position is easierto control when the blades 16 and outer ring 14 are made from a lightweight material.

The rotating vehicle 10 may also be particularly stable because there isa large amount of aerodynamic dampening caused by the largecross-sectional area of the blades 16. Stability is also believed to beenhanced by having a higher rotational moment of inertia due to theweight of the multiple motor mechanisms mounted away from the centralaxis of the hub.

During operation, the propellers 50 are spinning thus drawing air fromabove the rotating vehicle downwardly through the counter rotatingblades 16 within the outer ring 14. The air is thus being conditioned bythe blades before hitting the propellers 50. By conditioning the air itis meant that the air coming off the blades 16 is at an angle and at anacceleration, as opposed to placing the propellers 50 in stationary airand having to accelerate the air from zero or near zero. The efficiencyof the propellers 50 will be increased as long as the propellers 50 arespecifically pitched to take the accelerated air into account.

In order to directionally control the rotating vehicle 10, meaning tocontrol the flying rotating vehicle in up/down, forward/backward, andleft/right directions, a control system is employed. The control systemneeds to provide a position reference to coordinate directional commandsrelative to the operator. The position reference can be achieved byusing a directionally transmittable or receivable medium such as radio,ultrasound, or light. In addition an external reference that both therotating vehicle and a hand held controller have access to, such asearths magnetic field, sun or man made signals from a beacon or GPSsignals, could be used to provide a relative directional reference.

The control system also needs to translate control commands to theappropriate rotor assembly. This may be performed either in the handheld controller or in the rotating vehicle. In either case a means ofconveying the needed information between the hand held controller andthe rotating vehicle is necessary. This can be done by a separatetransmission medium or encoded within the reference medium or somecombination of both. Some of the following control system embodimentsuse infrared light as a directional medium. This is only because IRemitters and receivers are readily available and inexpensive. And theirextensive use for remote controllers in the consumer electronic industrymade the selection easier.

Referring now to FIG. 7, the rotating vehicle 10 viewed from the bottommay be divided into four quadrants, sequentially labeled Q1, Q2, Q3, andQ4. Viewing the quadrants, Q1 is seen as the bottom/left quadrant, Q2 isthe top/left quadrant, Q3 is the top/right quadrant, and Q4 is thebottom/right quadrant. This embodiment also shows three rotor assemblies20 that are equally spaced, such that each rotor assembly is 120 degreesfrom one another. The placement of the rotor assemblies is determined bydividing 360 degrees by the number of rotor assemblies thus defining an“offset angle”. Each rotor assembly may be further distinguished andreferred to as M1, M2, and M3.

It has been determined that by changing the power output to each rotorassembly as they move through the quadrants, the rotating vehicle 10 canbe directionally controlled. The moment a position reference isdetermined, both the rotational position of the rotating vehicle 10 andorientation of the rotor assemblies 20 are known. Moreover, bysynchronizing and adjusting the power distributed to the rotorassemblies 20 the rotating vehicle will fly or move in any desireddirection from the perspective of the user operating the hand heldcontroller. Thus allowing a user operating the rotating vehicle 10 toalign themselves with the vehicle 10 and direct it to the left/right,forwards (or towards the user)/backwards (or away from the user), andup/down, without having the user to move about the rotating vehicle todirect it only in a forwards or backwards position. Since the rotatingvehicle 10 is constantly spinning at approximately 300 rpm, the positionreference element (either a receiver or transmitter depending upon thecontrol system) can calculate the orientation of the rotating vehicleevery ⅕ of a second, permitting a substantially constant determinationof such orientation.

In addition, the ability to provide a smoother control of the powerdistributed to the rotor assemblies 20 can be provided herein. While invehicle electro mechanical commutators may be used to control the powerprovided to a motor, a control system is provided that generates a sinewave for each rotor assembly that is out of phase with each other by theaforementioned offset angle (120°). Moreover, the sine waves areconstructed using a number of samples to create a single cycle of eachsine wave, wherein the mechanical commutators use segments in acommutator ring to control the power; where each segment wouldcorrespond to a sample. The sine waves are further constructed fromapproximately 32 samples, of which it would be extremely difficult tomanufacture a commutator with 32 segments. As such the control systemallows for a smoother cyclic control of the rotating vehicle.

During operation, a user controlling the rotating vehicle 10 may controla throttle and a directional control. Initially when the vehicle 10 isresting on the ground, the user will control the throttle such that themicroprocessor 28 begins to provide and increase the level of a drivesignal to each motor 32. The throttle signals to the microprocessor 28to control the level of the drive signals to each rotor assembly 20equally such that the rotating vehicle 10 raises and lowers at a levelangle and not tilted to one side. If the throttle is increased themicroprocessor 28 will increase the level of the drive signal causingthe propellers 50 to rotate at a faster rate raising the rotatingvehicle 10. Alternately, when the throttle is decreased the level of thedrive signals is decreased causing the rotation of the propellers todecrease thereby lowering the rotating vehicle 10.

In another embodiment, the user can control the throttle by moving athrottle controller slightly forward causing the level of the drivesignal to increase, and when the throttle is moved forwards “all theway” the level of the drive signal is increased greater than previouslycausing the rotating vehicle to climb faster. Thus, when the throttle ismoved the level of the drive signal is increased or decreased at aproportional rate. This aspect is the same for moving the rotatingvehicle in any direction.

When the user desires to move the rotating vehicle 10 in a specificdirection, the user may move the directional control. The microprocessorreceiving a signal from the directional control will generate sine wavesfor each rotor assembly M1, M2, and M3. The sine waves will be added tothe drive signals causing the motors to increase and decrease the powerin accordance to the positive and negative peaks of the sine waves. Itis important to note that the sine waves are also out of phase with oneanother as determined by the offset angle. By shifting the beginningphase angle of each sine wave, the motors can be controlled to move thevehicle in a specified direction. As such, in each instance, themicroprocessor shifts the three individual sine waves to the correctbeginning phase angle. In addition, the sine waves may have amplitudesto control the speed in which directional movement are made (similar tothrottle changes). If the directional controller is moved in onedirection slightly, the amplitude of the sine waves may be smaller thenwhen the directional controller is moved all the way in one direction.By adjusting the amplitude and the beginning phase angle of the sinewaves, the user can adjust the rate in which the rotating vehicle 10moves in a particular direction. Lastly, the microprocessor will add (ifnecessary) the correct level to the drive signals of each motor. Thusthe drive signals not only control the direction of the vehicle but alsothe speed in which the directional movements are made.

In reference to the directional control inputs to the rotating vehicle10, FIGS. 8 a through 8 d illustrate the sine waves generated by themicroprocessor for each rotor assembly M1, M2, and M3 for a single 360°rotation of the vehicle 10. Referring to FIG. 8 a, at 0° (when theposition reference element is aligned with the hand held controller) M1will have a sine wave for a single cycle (360°) that has a maximum peakvalue at 0° and a minimum peak value at 180°; M2 being 120° out of phasewith M1 will not reach a maximum peak value until it travels 120°; andM3 being 120° out of phase with M2 will not reach a maximum peak valueuntil it travels 240°. The three sine waves added to the drive signalwill be such that the propellers 50 will rotate faster in Q4 and Q4 thanin Q2 and Q3, thereby moving the rotating vehicle forwards. Referring toFIGS. 8 b through 8 d, the relative sine waves for M1, M2, and M3 andhow the waves are synchronized with one another based upon the directionof the directional control is illustrated. In FIG. 8 b, when thepropellers rotate faster in Q2 and Q3 than in Q1 and Q4, the rotatingvehicle moves backwards towards the user. In FIG. 8 c, when thepropellers rotate faster in Q3 and Q4 than in Q1 and Q2, the rotatingvehicle moves to the left. And in FIG. 8 d, when the propellers rotatefaster in Q1 and Q2 than in Q3 and Q4, the rotating vehicle moves to theright.

In a first control system embodiment 100, FIG. 9 a, a hand heldcontroller 110 transmits a non directional IR signal through IR emitters112. The non directional IR signal is also encoded with the controlinputs from the operator. The position reference of the rotating vehicleis determined by a directional IR receiver 114 on the vehicle 10. Whenthe directional IR receiver 114 receives the signal from the hand heldcontroller 110, the microprocessor 28 on the rotating vehicle determinesthat the rotor assembly M1 is positioned at zero degrees. A nondirectional IR receiver 116 on the rotating vehicle 10 is used toreceive and decode the control input commands from the hand heldcontroller. As mentioned above, the control input commands includethrottle and directional control commands, received through a throttlecontrol stick 102 and a directional control stick 104. Motor controlcalculations are performed by the microprocessor 28 on the rotatingvehicle 10.

The microprocessor has programming that creates drive signals in directresponse to the encoded signals. The drive signals are sent to theappropriate rotor assemblies M1, M2, and M3 through motor controllers118 (separately referenced as C1, C2, and C3, respectively). The motorcontrollers may be part of the rotor assemblies. As described above, thedrive signals control the speed of the propellers as the propellersrotate around the quadrants (illustrated in FIG. 7). The drive signalscause the propellers to fly the rotating vehicle in a directionspecified by the person operating the hand held controller. Moreover,because the drive signals are sent in relation to the directional pointof reference, the rotating vehicle flies in the specified direction asit relates to the remote user. The drive signals may also include leveladjustments in response to encoded signals from the throttle controller.

Both the throttle controller and directional controller are manuallyoperable by the user. In addition, both when manipulated by the usercauses the IR transmitter to send encoded commands specifically relatingto the manipulation thereof. This is typically done through a separatemicroprocessor and programming positioned in the hand held controller.IR encoding is well known and is typically achieved through a beamencoder.

In an alternative control system 125, FIG. 9 b, the position referenceis determined by emitting an IR beam from an emitter 112 to adirectional receiver 114 on the rotating vehicle. The throttlecontroller commands and directional controller commands are sent fromthe hand held controller 110 through a radio transmitter 127 to a radioreceiver 129 on the rotating vehicle 10. The commands are sent to theMCU 28 for processing and generating appropriate drive signals.

In a second control system 130, FIG. 9 c, the position reference isdetermined by emitting a directional IR beam from an emitter 132controlled by an optical control system 134 on the rotating vehicle 10.A non directional IR receiver 142 on the hand held controller 140detects the directional IR beam. The received signal and the controlinputs from the throttle and directional control commands, received froma throttle control stick 144 and a directional control stick 146, aresent to a microprocessor 148 in the hand held controller 140. Themicroprocessor 148 translates the signal and control inputs intoappropriate motor control signals (as described above in FIGS. 8 a-8 d).The motor control signals MS1-MS3 (correlating to the three rotorassemblies M1-M3) are transmitted from the hand held controller 140 by aradio transmitter 150 modulated by the individual motor control signalsMS1-MS3 as CH1-CH3 respectively. A radio receiver 152 on the vehicle 10demodulates the separate motor control signals CH1-CH3 and sends thesignals to the motor controllers C1-C3 to appropriately drive theindividual motors M1-M3.

In a third control system 180, FIG. 10 a, the position reference is doneby a directional IR sensor as described above in the control systemreferenced in FIG. 9 a. The hand held controller 190 is in the form of agun with a trigger 192 and a dome 194 positioned in the front of thegun. The hand held controller 190 includes four IR emitters, referred toas 201, 202, 203, 204. As shown in FIG. 10 b, emitter 201 is the upperleft hand corner, emitter 202 is the upper right hand corner, emitter203 is the lower right hand corner, and emitter 204 is the lower lefthand corner. The IR emitters are positioned towards the center of thedome in a circular quadrant placement. In addition, a black wall orreception blocking element 205 may be placed separating the emitterssuch that the beams or signals do not cross over into other quadrants.The emitters radiate the IR beams outwardly from the center position ofthe dome 194. A beam encoder 196 in the hand held controller 190 is usedto encode the four IR beams with a unique beam. All four beams areencoded with the trigger position (levels of drive signals) which isused by the operator to control the height of the rotating vehicle. Tocontrol and move the rotating vehicle 10, the user simply points andmoves the hand held controller 190. For example, to move the rotatingvehicle 10 towards the user, the hand held controller 190 may be pointedabove the rotating vehicle. This exposes the IR receiver 114 on therotating vehicle to beams 203 and 204. The microprocessor 28 identifyingbeams 203 or 204 will power the rotor assemblies to move the rotatingvehicle forwards. To move the rotating vehicle backwards or away fromthe user, the hand held controller 190 may be pointed below the rotatingvehicle, exposing the IR receiver 114 to beams 201 and 202. To move therotating vehicle towards the right or left, the hand held controller ismoved to the right or left of the rotating vehicle, which exposes the IRreceiver to beams 201 and 204, or 202 and 203, respectively.

In an alternative control system to the system described with referenceto FIGS. 10 a and 10 b, the identification of IR beams 201 through 204can be used to command and control the height of the rotating vehicle.In this instance, pointing the hand held controller 190 above therotating vehicle would command the rotating vehicle to climb until it islevel with the center of the four beams. The trigger 192 would be usedonly to engage the hand held controller (similar to an on/off switch).In this control system as the user points the hand held controllerup/down/left/right, the rotating vehicle would follow. While therotating vehicle in this instance cannot move forward and back the usercan reposition themselves to the side of the rotating vehicle to commandthe other directions.

In a fourth control system 210, FIG. 10 c, the system operatesidentically to the third control system 180 except the triggerinformation is transmitted by a radio transmitter 212 via a modulatedradio signal to a radio receiver 214 on the rotating vehicle 10. Thiseliminates the need for a second IR receiver on the rotating vehicle andsimplifies the beam encoding scheme.

Similar to the control systems in FIGS. 10 a through 10 c, it isalternatively contemplated that the IR beams 201 through 204 control theup/down and left/right movement of the rotating vehicle and the trigger192 (or a toggle—not shown) is used to control the forward and backwardmovement of the rotating vehicle.

In a fifth control system 240, FIG. 10 d, the rotating vehicle 10includes an IR emitter 242. The hand held controller 250 includes twoseparate reference sensors 252 and 254. The first sensor 252 is to theright of the centerline and the second sensor 254 is to the left of thecenterline. The centerline is either a black wall or other type ofsignal blocking partition 253, separating the reception zones of eachsensor. The partition 253 helps to prevent the sensors from receivingsignals from the other zones or quadrants. The microprocessor 256 on thehand held controller 250 determines where the vehicle 10 is positionedin relation to the hand held controller 250 and commands the rotatingvehicle 10 to the right and left with reference to the movement of thehand held controller 250. A trigger 258 is used to command the height ofthe rotating vehicle as described above. Alternatively, four sensorscould be used to facilitate height command and control as well as rightand left control.

Continuing to refer to FIG. 10 d, there is an additional toggle switch260 on the hand held controller 250 that is used to command the vehicle10 forward and back. All of the control calculations are done by themicroprocessor 256 in the hand held controller 250. Each motor signal istransmitted by a radio transmitter 262 to a radio receiver 264 on therotating vehicle 10. Each motor is then controlled by a separate channelfrom a radio receiver.

It is further contemplated that the control systems described above canbe employed to control the flight path of a flying aircraft having atleast one propeller mechanism. The propeller mechanism would include apropeller, a motor, and a means to control the propeller. The controlmeans may be a means to change the pitch of the propeller while rotatingor similar to the above a means to control the drive signals being sentto the motor. The control system would work in connection with a handheld controller operable by a user. In the hand held controller, similarto above, four transmitters would be positioned in a domed front portiontherein, in a circular quadrant placement. Each transmitter would send asignal that is identifiable from the other signals. The aircraft furtherhas a receiver, and a microprocessor in communication with the receiver.The microprocessor has means to communicate with the control means tomove the aircraft in a specified direction in response to receivedsignals. For example, when the receiver is receiving two of the foursignals, caused by the hand held controller being moved in a direction,the microprocessor controls the propeller mechanism to fly the aircraftin a specified direction that corresponds to the movement of the handheld controller.

The control system may also be employed to move ground vehicles thattrack and follow the movement of the hand held controller.

It should be further stated the specific information shown in thedrawings but not specifically mentioned above may be ascertained andread into the specification by virtue of a simple study of the drawings.Moreover, the invention is also not necessarily limited by the drawingsor the specification as structural and functional equivalents may becontemplated and incorporated into the invention without departing fromthe spirit and scope of the novel concept of the invention. It is to beunderstood that no limitation with respect to the specific methods andapparatus illustrated herein is intended or should be inferred. It is,of course, intended to cover by the appended claims all suchmodifications as fall within the scope of the claims.

1. A system to control the flight path of a flying aircraft having atleast one propeller mechanism, comprising: a hand held controlleroperable by a user, the hand held controller includes a front portionhousing four outwardly positioned IR transmitters situated in a circularquadrant placement with respect to each other, each transmitter capableof wirelessly sending a signal that is identifiable from the othersignals, and; the aircraft having a receiver and a microprocessor incommunication with the receiver, the microprocessor having means tocontrol the propeller mechanism in a manner that moves the aircraft in aspecified direction in response to received signals sent by said handheld controller, wherein when the receiver is receiving two of the foursignals, caused by the hand held controller being moved in a direction,the microprocessor controls the propeller mechanism to fly the aircraftin a specified direction that corresponds to the movement of the handheld controller.
 2. The system of claim 1 further comprising a signalblocking element positioned between two adjacent transmitters to reduceintermingling of signals.
 3. The system of claim 1, wherein the aircraftincludes a plurality of rotor assemblies, each rotor assembly having apropeller, and said propellers of the plurality of rotor assemblies arepositioned in substantially the same plane, and wherein themicroprocessor has means to generate drive signals in relation to thereceived signals and to send said drive signals to the rotor assemblies,the drive signals defined to have a resultant thrust vector that movesthe aircraft in a specified direction.
 4. The system of claim 3, furthercomprising: a throttle input positioned in the hand held controller andmanually operable by said user, means to change the signals emitted fromthe hand held controller in response to said throttle input, themicroprocessor positioned in the aircraft having programming to controla level of each of the drive signals in relation to the change in thesignals.
 5. A rotating flying vehicle comprising: a hub having an outerperimeter; an outer ring having a diameter greater than said outerperimeter defined by the hub; a plurality of blades extending outwardlyand downwardly connecting the hub to the outer ring; at least one rotorassembly having a motor to spin a propeller, said propeller beingpositioned beneath said plurality of blades, a microprocessorcontrolling the at least one propeller to spin such that when spinningthe at least one propeller cause the hub, blades, and outer ring tosufficiently rotate in an opposite direction as the at least onespinning propeller and will generate lift such that the vehicle willfly; a system for determining a directional point of reference for theat least one rotor assembly as the entire vehicle is rotating, whereinthe system for determining said directional point of reference includesa transmitter being placed on a hand held controller operated by aremote user, the transmitter emitting a signal, and a receiving systemplaced at a position on the vehicle in relation to the rotor assemblies,the receiving system being in communication with a microprocessor, themicroprocessor having programming to determine the directional point ofreference of the rotor assemblies when the receiving system senses saidsignal; and a control system to fly the vehicle in a specified directionbased on the directional point of reference and relative to a remoteuser, and wherein the control system the transmitter further emittingencoded commands to fly the vehicle in a specified direction relative tothe remote user, the encoded commands being received by said receivingsystem, and the microprocessor having programming to control the rotorassemblies in response to received encoded commands and in relation tothe directional point of reference such that the vehicle flies in saidspecified direction relative to the remote user.
 6. The vehicle of claim5, receiving system includes a directional receiver for receiving thesignal and includes a non directional receiver for receiving the encodedcommands.
 7. The vehicle of claim 6, wherein the microprocessor includesprogramming to generate a drive signal for each rotor assembly andcorresponding to said encoded commands wherein the drive signals controlthe vehicle to move in said specified direction.
 8. The vehicle of claim7, wherein the hand held controller further includes: a throttlecontroller manually operable by said remote user, the throttlecontroller when manipulated by said remote user causes the transmitterto send encoded commands to indicate to the microprocessor to increaseand decrease a level of each drive signal.
 8. The vehicle of claim 7,wherein the hand held controller further includes: a directionalcontroller manually operable by said remote user, the directionalcontroller when manipulated by said remote user causes the transmitterto send encoded commands to indicate to the microprocessor to generatesaid drive signal for each rotor assembly.
 8. The vehicle of claim 7,wherein each drive signal includes a sinusoidal wave that is out ofphase with one another by a predetermined offset angle defined by theplacement of the rotor assemblies in reference to each other.
 9. Asystem to control the flight path of a flying aircraft having at leastone propeller mechanism, comprising: a hand held controller operable bya user, the hand held controller includes a front portion housing aplurality of outwardly positioned IR transmitters capable of wirelesslysending a signal that is identifiable from the other signals, theplurality of IR transmitters being positioned in a circular sectionformation with respect to each other such that each transmitter ispositioned in a circular sector determined by the number oftransmitters, and; the aircraft having a receiver and a microprocessorin communication with the receiver, the microprocessor having means tocontrol the propeller mechanism in a manner that moves the aircraft in aspecified direction in response to received signals sent by said handheld controller, wherein when the receiver is receiving two of theplurality of signals, caused by the hand held controller being moved ina direction, the microprocessor controls the propeller mechanism to flythe aircraft in a specified direction that corresponds to the movementof the hand held controller.
 10. The system of claim 9 furthercomprising a signal blocking element positioned between two adjacenttransmitters to reduce intermingling of signals.
 11. The system of claim10 wherein the plurality of outwardly positioned IR transmitters isdefined as having four transmitters positioned in a circular quadrantplacement.